Barrier gate lifting simulation method, device and equipment and storage medium

Abstract

The invention discloses a barrier gate lifting simulation method and device, equipment and a storage medium. The method comprises the steps that the length and the orientation angle of a lifting rod of a barrier gate three-dimensional model set in a simulation environment are acquired; based on the length and the orientation angle of the lifting rod, center point coordinates of all angles in the process that the lifting rod rotates from the horizontal state to the vertical state are calculated; and simulating the movement of the lifting rod of the barrier gate machine based on the nodes arranged on each part of the three models of the barrier gate machine and in combination with the coordinates of the central point. According to the invention, rod body space attitude control and speed adaptive adjustment can be realized, the traffic capacity of an automatic driving vehicle in a complex barrier gate scene can be verified, and a reliable simulation environment is provided.

Description

Technical Field

[0001] This invention relates to the field of simulation testing technology, and in particular to a simulation method, device, equipment, and storage medium for the raising and lowering of a barrier gate. Background Technology

[0002] As traffic control equipment, barrier gates are widely used in tollbooth entrances and exits, parking lots, and other scenarios to manage vehicle passage. With the rapid development of autonomous driving technology, verifying the passage logic and obstacle avoidance capabilities of autonomous vehicles in barrier gate scenarios has become a crucial issue. However, existing barrier gate simulations are mostly static 3D models, unable to dynamically control the raising and lowering of the barrier arm according to testing requirements. This static model cannot simulate the spatial movement of the barrier arm in real-world scenarios, preventing autonomous vehicles from being tested in response to dynamic obstacles (such as the raising and lowering barrier arm) in a simulated environment.

[0003] Furthermore, existing technologies lack precise modeling of the spatial motion of the pole, failing to meet the testing requirements of autonomous vehicles for dynamic response to obstacles. For example, existing methods typically employ simple animation interpolation or fixed-time control of lifting and lowering, which cannot achieve high-precision motion trajectory calculation (e.g., error ≤ 1cm) or simulate the acceleration and deceleration characteristics of a real barrier gate.

[0004] Currently, there is a lack of a method for simulating gate systems that can simultaneously achieve accurate trajectory calculation, fault scenario simulation (such as sensor false alarms), and gate machine simulation.

[0005] Therefore, how to accurately simulate the lifting and lowering process of the barrier gate and verify the passage capability of autonomous vehicles in complex barrier gate scenarios is a technical problem that urgently needs to be solved. Summary of the Invention

[0006] The main objective of this invention is to provide a simulation method, device, equipment, and storage medium for the lifting and lowering of a barrier gate, which can realize the spatial attitude control of the boom and the adaptive speed adjustment, and can verify the passage capability of autonomous vehicles in complex barrier gate scenarios, providing a reliable simulation environment.

[0007] Firstly, this application provides a simulation method for the raising and lowering of a barrier gate, the method comprising the following steps: Obtain the lifting arm length and orientation angle of the 3D model of the barrier gate set in the simulation environment; Based on the length and orientation angle of the lifting rod, calculate the coordinates of the center point of each angle during the process of the lifting rod rotating from a horizontal state to a vertical state; Based on the nodes set in each part of the three-part barrier gate model, and combined with the coordinates of the center point, the movement of the barrier gate lifting arm is simulated.

[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, the angle increment per frame is calculated based on the obtained frame interval time of the lifting boom, the simulated frame rate, and the custom lifting boom's movement speed. The real-time coordinates of the lifting boom are calculated using the center point coordinates and the angle increment. Using the real-time coordinates, the motion state of the barrier gate lifting arm during the process from horizontal to vertical is simulated, including acceleration, deceleration, and constant speed.

[0009] In conjunction with the first aspect mentioned above, as an optional implementation method, the maximum angular velocity is calculated based on the total rotation angle; Based on the maximum angular velocity, calculate the angular velocities during the acceleration, deceleration, and constant velocity phases.

[0010] In conjunction with the first aspect mentioned above, as an optional implementation method, according to the formula: Calculate the frame interval time, where, This is for simulating frame rate; According to the formula: Calculate the angle increment for each frame, where This represents the angular velocity per frame.

[0011] In conjunction with the first aspect mentioned above, as an optional implementation method, according to the formula:

[0012]

[0013]

[0014] Calculate the coordinates of the center point of the lifting boom at each angle during its rotation from a horizontal to a vertical position. The rotation angle of the lifting boom, ( ( ) represents the initial coordinates of the lifting boom. This refers to the length of the lifting boom.

[0015] In conjunction with the first aspect mentioned above, as an optional implementation method, based on the control nodes set in each part of the three-dimensional model of the barrier gate, the coordinates of the center point are used as input, and corresponding control commands are output through simulation software to control the movement of the barrier gate's lifting arm.

[0016] In conjunction with the first aspect mentioned above, as an optional implementation method, different lengths of barrier gate lifting arms are selected according to the requirements of the test scenario to generate corresponding arm length parameters, and simulation software is used to obtain the arm length parameters. Based on the ground truth sensors in the geodetic coordinate system deployed on the test vehicle, the orientation angle of the three-dimensional model of the barrier gate is obtained in real time by running a simulation scenario. The orientation angle includes: roll angle, pitch angle and yaw angle.

[0017] Secondly, this application provides a simulation device for the lifting and lowering of a barrier gate, the device comprising: The acquisition module is used to acquire the lifting arm length and orientation angle of the 3D model of the barrier gate set in the simulation environment; The calculation module is used to calculate the coordinates of the center point of each angle during the process of the lifting rod rotating from a horizontal state to a vertical state, based on the length and orientation angle of the lifting rod. The simulation module is used to simulate the movement of the lifting arm of the barrier gate based on the nodes set in each part of the three models of the barrier gate and in combination with the coordinates of the center point.

[0018] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.

[0019] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.

[0020] This application provides a simulation method, apparatus, device, and storage medium for the raising and lowering of a barrier gate. The method includes the following steps: obtaining the length and orientation angle of the raising arm of a three-dimensional model of the barrier gate set in the simulation environment; calculating the coordinates of the center point of each angle during the rotation of the raising arm from a horizontal to a vertical state based on the length and orientation angle; and simulating the movement of the raising arm based on the nodes set in each part of the three-dimensional model of the barrier gate and the coordinates of the center points. This application can achieve spatial attitude control and adaptive speed adjustment of the arm, and can verify the passage capability of autonomous vehicles in complex barrier gate scenarios, providing a reliable simulation environment.

[0021] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0023] Figure 1 This is a flowchart illustrating a simulation method for raising and lowering a barrier gate provided in an embodiment of this application. Figure 2 This is a schematic diagram of a simulation device for raising and lowering a barrier gate provided in an embodiment of this application; Figure 3This is a schematic diagram of an electronic device provided in an embodiment of this application; Figure 4 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0025] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.

[0026] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0027] Reference Figure 1 , Figure 1 The diagram shown is a simulation method flowchart for the raising and lowering of a barrier gate provided by the present invention. Figure 1 As shown, the method includes the following steps: Step S101: Obtain the lifting arm length and orientation angle of the 3D model of the barrier gate set in the simulation environment.

[0028] Specifically, based on the requirements of the test scenario, different lengths of barrier gate lifting arms are selected to generate corresponding arm length parameters, and simulation software is used to obtain the arm length parameters; Based on the ground truth sensors in the geodetic coordinate system deployed on the test vehicle, the orientation angle of the three-dimensional model of the barrier gate is obtained in real time by running a simulation scenario. The orientation angle includes: roll angle, pitch angle and yaw angle.

[0029] For ease of understanding and illustration, different lengths of lifting poles (such as 2m, 4m, 6m) are selected according to the test scenario requirements, and the corresponding pole length parameter L is generated; Establish a mapping relationship between rod length and subsequent kinematic calculations to ensure the accuracy of motion trajectory under different rod lengths.

[0030] The methods for obtaining the absolute orientation angle of the 3D model of the lifting boom in the geodetic coordinate system include: Direct setting method: When placing a 3D model in simulation software, the initial orientation angle can be obtained directly by setting the XYZHPR parameters of the model; Sensor reading method: Deploy a ground truth sensor in the geodetic coordinate system on the test vehicle and obtain the orientation angle in real time by running the simulation scenario.

[0031] Step S102: Based on the length and orientation angle of the lifting rod, calculate the coordinates of the center point of each angle during the process of the lifting rod rotating from the horizontal state to the vertical state.

[0032] Specifically, according to the formula:

[0033]

[0034]

[0035] Calculate the coordinates of the center point of the lifting boom at each angle during its rotation from a horizontal to a vertical position. The rotation angle of the lifting boom, ( ( ) represents the initial coordinates of the lifting boom. This refers to the length of the lifting boom.

[0036] For ease of understanding, the input parameters are: rod length L, initial coordinates ( Orientation angle, rotation angle Output parameters: Real-time coordinates corresponding to each angle ( ).

[0037] Calculate the coordinates of the fixed endpoint: the initial center point coordinates of the lifting boom ( ), fixed endpoints along Coordinates of the direction extending L / 2: ( ) = ( ).

[0038] The vector of the center point relative to its fixed endpoints is: . The vector after rotation about the axis of rotation: using the Rodriguez rotation formula, around the axis of rotation... Rotation Vector after angle for cross product Substituting, we get: .

[0039] The coordinates of the center point after rotation are the fixed endpoints plus... :

[0040]

[0041]

[0042] For rotation angle ,in In degrees, the value increases by A degrees each time until 90° is reached. The coordinates of each angle are determined by (…). ) was calculated.

[0043] In one embodiment, the angle increment per frame is calculated based on the acquired frame interval time of the lifting boom, the simulated frame rate, and the movement speed of the custom lifting boom. The real-time coordinates of the lifting boom are calculated using the center point coordinates and the angle increment. Using the real-time coordinates, the motion state of the barrier gate lifting arm during the process from horizontal to vertical is simulated, including acceleration, deceleration, and constant speed.

[0044] Specifically, the maximum angular velocity is calculated based on the total rotation angle; and the angular velocities during acceleration, deceleration, and constant velocity phases are calculated based on the maximum angular velocity. The total motion time T and simulation frame rate are set as follows: Length of lifting mast Initial center coordinates ( Initial yaw angle (Orientation on the horizontal plane) and initial pitch angle (Angle on the vertical plane). Divide the motion process into acceleration phases. Uniform speed stage and deceleration phase .generally , .

[0045] Angular velocity calculation: Calculate the maximum angular velocity based on the total rotation angle (90 degrees). And calculate the angular velocity of each stage frame by frame: Acceleration stage: Uniform speed phase: Deceleration phase: Where n is the current frame number in the acceleration phase, m is the current frame number in the constant speed phase, and p is the current frame number in the deceleration phase.

[0046] Angle increment per frame: ,in Cumulative pitch angle: The yaw angle remains constant. .

[0047] It should be noted that the constant speed phase is as follows: constant, , Increase by a fixed step size; acceleration phase: As time increases, Gradually getting bigger, Accelerated increase, coordinate update rate increases; deceleration phase: Decreasing over time Gradually getting smaller, As the speed increases, the coordinate update rate slows down. This is understandable, as the rotation angle is determined by the input rod length, initial coordinates, and orientation angle. Output arbitrary angle The three-dimensional coordinates of the center point of the corresponding rod ( This refers to the angle-coordinate mapping relationship. Based on the input inter-frame interval time and simulation frame rate, the output angle increment, i.e., the time-angle mapping relationship, determines the frequency and rhythm of coordinate updates. Coupled with these two, that is, after obtaining the center coordinates and acceleration, constant speed, and deceleration characteristics, the movement of the lifting rod becomes more realistic.

[0048] Understandably, in order to make the simulation more realistic, the lifting rod is controlled to accelerate, decelerate, and move at a constant speed during its movement, from 0 to 90 degrees. For example, 0-30 degrees can be set as acceleration, 30-70 degrees as constant speed, and 70-90 degrees as deceleration.

[0049] Step S103: Based on the nodes set in each part of the three-part barrier gate model and combined with the coordinates of the center point, simulate the movement of the barrier gate lifting arm.

[0050] Specifically, based on the control nodes set in each part of the three-dimensional model of the barrier gate, the coordinates of the center point are used as input, and corresponding control commands are output through simulation software to control the movement of the barrier gate's lifting arm.

[0051] To illustrate this, we establish a communication connection with the simulation software and are responsible for transmitting the pre-calculated motion data of the barrier gate's lifting arm (including the coordinates and heading angle for each frame). The program continuously receives "3D model node" data packets transmitted in real time from the simulation scene software. These data packets contain key information about the 3D model of the barrier gate, such as the model's position and orientation. The program uses specific parsing algorithms to extract the required data from the data packets. Simultaneously, the program also receives and parses data packets containing vehicle information. These data packets may contain key data such as the vehicle's position, speed, and direction of travel. By parsing these data packets, the program can obtain the vehicle's real-time status, providing a basis for subsequently determining the timing of the barrier gate's raising and lowering. For example, the barrier gate only begins to move when the vehicle is 2 meters away.

[0052] After parsing the "3D model node" data packet and the vehicle information data packet, the program will generate corresponding control commands according to the preset lifting timing logic to control the movement of the lifting rod.

[0053] Understandably, this application transforms the spatial motion of the barrier gate into a calculable and configurable mathematical model through the decoupling design of parameters such as pole length, orientation, coordinates, and speed. It proposes a segmented speed control algorithm (acceleration-uniform speed-deceleration) to simulate the characteristics of real mechanical motion. Furthermore, this algorithm is coupled with the coordinate calculation module to achieve real-time mapping of "speed-position".

[0054] In summary, this application enhances the realism of the simulation scenario: through dynamic coupling of velocity and coordinates, it can simulate the real-time raising and lowering of the barrier arm when a vehicle approaches, making the test scenario closer to real working conditions; Supports extreme working condition testing: By configuring the parameters of the speed module, it is possible to simulate the failure scenarios of the barrier gate (such as sudden acceleration and drop, or jamming).

[0055] It should also be noted that this application uses dynamic rod movement to simulate a real-world scenario: The impact of the lifting time of the barrier gate from horizontal to vertical when a vehicle approaches at 60 km / h on the vehicle passage strategy.

[0056] Emergency handling logic for the vehicle when the lever jams midway (such as during deceleration).

[0057] Reference Figure 2 , Figure 2 The diagram shown is a simulation device for raising and lowering a barrier gate provided by the present invention. Figure 2 As shown, the device includes: Acquisition module 201: It is used to acquire the lifting arm length and orientation angle of the 3D model of the barrier gate set in the simulation environment.

[0058] Calculation module 202: It is used to calculate the coordinates of the center point of each angle during the rotation of the lifting rod from a horizontal state to a vertical state, based on the length and orientation angle of the lifting rod. Simulation module 203: It is used to simulate the movement of the lifting arm of the barrier gate based on the nodes set in each part of the three models of the barrier gate and in combination with the coordinates of the center point. Furthermore, in one possible implementation, the calculation module is also used to calculate the angle increment per frame based on the acquired frame interval time of the lifting boom, the simulated frame rate, and the custom lifting boom's movement speed. The real-time coordinates of the lifting boom are calculated using the center point coordinates and the angle increment. Using the real-time coordinates, the motion state of the barrier gate lifting arm during the process from horizontal to vertical is simulated, including acceleration, deceleration, and constant speed.

[0059] Furthermore, in one possible implementation, the calculation module is also used to calculate the maximum angular velocity based on the total rotation angle; Based on the maximum angular velocity, calculate the angular velocities during the acceleration, deceleration, and constant velocity phases.

[0060] Furthermore, in one possible implementation, the calculation module is also used to calculate according to the formula: Calculate the frame interval time, where, This is for simulating frame rate; According to the formula: Calculate the angle increment for each frame, where This represents the angular velocity per frame.

[0061] Furthermore, in one possible implementation, the calculation module is also used to calculate according to the formula:

[0062]

[0063]

[0064] Calculate the coordinates of the center point of the lifting boom at each angle during its rotation from a horizontal to a vertical position. The rotation angle of the lifting boom, ( ( ) represents the initial coordinates of the lifting boom. This refers to the length of the lifting boom.

[0065] Furthermore, in one possible implementation, a simulation module is used to control the movement of the gate's lifting arm by taking the center point coordinates as input and outputting corresponding control commands through simulation software, based on the control nodes set up according to the various parts of the three-dimensional model of the gate.

[0066] Furthermore, in one possible implementation, the acquisition module is used to select different lengths of barrier gate lifting arms according to the requirements of the test scenario, so as to generate corresponding arm length parameters, and use simulation software to acquire the arm length parameters; Based on the ground truth sensors in the geodetic coordinate system deployed on the test vehicle, the orientation angle of the three-dimensional model of the barrier gate is obtained in real time by running a simulation scenario. The orientation angle includes: roll angle, pitch angle and yaw angle.

[0067] The following reference Figure 3 To describe an electronic device 300 according to this embodiment of the present invention. Figure 3 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0068] like Figure 3As shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including storage unit 320 and processing unit 310).

[0069] The storage unit stores program code that can be executed by the processing unit 310, causing the processing unit 310 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0070] Storage unit 320 may include readable media in the form of volatile storage units, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.

[0071] Storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0072] Bus 330 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0073] Electronic device 300 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 300, and / or any device that enables electronic device 300 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 350. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 360. As shown, network adapter 360 communicates with other modules of electronic device 300 via bus 330. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0074] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0075] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0076] refer to Figure 4 As shown, a program product 400 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0077] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0078] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0079] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0080] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0081] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0082] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0083] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A method for simulating the lifting of a barrier gate machine, characterized in that, The method comprises: obtaining the length and orientation angle of the lifting rod of the barrier gate machine three-dimensional model set in the simulation environment; based on the length and orientation angle of the lifting rod, calculating the center point coordinates of each angle in the process of rotating the lifting rod from the horizontal state to the vertical state; based on the nodes set for each part of the barrier gate machine three-dimensional model and in combination with the center point coordinates, simulating the movement of the lifting rod of the barrier gate machine.

2. The method of claim 1, wherein, Further comprising: based on the obtained lifting rod per frame interval time, simulation frame rate and self-defined lifting rod movement speed, calculating the angle increment of each frame; using the center point coordinates and the angle increment, calculating the real-time coordinates of the lifting rod; using the real-time coordinates, simulating the movement state of the lifting rod of the barrier gate machine from the horizontal state to the vertical state, the movement state including acceleration, deceleration and uniform speed.

3. The method of claim 2, wherein, The method comprises: based on the total rotation angle, calculating the maximum angular velocity; based on the maximum angular velocity, calculating the angular velocity in the acceleration, deceleration and uniform speed stages.

4. The method of claim 2, wherein, The method comprises: The inter-frame interval time is calculated according to the formula: wherein is the emulated frame rate; The angular increment for each frame is calculated according to the formula: where is the angular velocity for each frame.

5. The method of claim 1, wherein, based on the length and orientation angle of the lifting rod, calculating the center point coordinates of each angle in the process of rotating the lifting rod from the horizontal state to the vertical state, comprising: according to the formula: calculating the coordinates of the center point of each angle of the lifting rod in the process of rotating from the horizontal state to the vertical state, wherein, is the rotation angle of the lifting rod, is the initial coordinates of the lifting rod, is the length of the lifting rod.

6. The method of claim 1, wherein, based on the nodes set for each part of the barrier gate machine three-dimensional model and in combination with the center point coordinates, simulating the movement of the lifting rod of the barrier gate machine, comprising: based on the control nodes set for each part of the barrier gate machine three-dimensional model, taking the center point coordinates as input, outputting corresponding control instructions through the simulation software to control the movement of the lifting rod of the barrier gate machine.

7. The method of claim 1, wherein, The method comprises: according to the test scene requirements, selecting barrier gate machine lifting rods of different lengths to generate corresponding rod length parameters and obtaining the rod length parameters through the simulation software; based on the true value sensors deployed on the test vehicle in the geodetic coordinate system, obtaining the orientation angle of the barrier gate machine three-dimensional model in real time by running the simulation scene, the orientation angle including the roll angle, the pitch angle and the yaw angle.

8. A simulation device for a barrier gate machine lift, characterized by, The method comprises: an obtaining module for obtaining the length and orientation angle of the lifting rod of the barrier gate machine three-dimensional model set in the simulation environment; a calculating module for calculating the center point coordinates of each angle in the process of rotating the lifting rod from the horizontal state to the vertical state based on the length and orientation angle of the lifting rod; a simulation module for simulating the movement of the lifting rod of the barrier gate machine based on the nodes set for each part of the barrier gate machine three-dimensional model and in combination with the center point coordinates.

9. An electronic device, comprising: The electronic device comprises: a processor; a memory having computer readable instructions stored thereon, the computer readable instructions being executed by the processor to implement the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program instructions stored therein, when executed by a computer, cause the computer to execute the method according to any one of claims 1 to 7.

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